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make all possible functions const

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This commit is contained in:
kleiax
2023-08-18 11:44:10 +02:00
parent 11d21e2e89
commit 4cd2b9368d
18 changed files with 33 additions and 52 deletions
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include/moveControl.h
+1 -1
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@@ -125,7 +125,7 @@ class MoveControl : public Component {
* @param side 0 -> left, 1 -> right
* @return PID*
*/
PID* getPID(uint8_t side);
PID* getPID(uint8_t side) const;
/**
* @brief Get the Speedometer Left object
lib/Battery/battery.cpp
+3 -3
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@@ -39,12 +39,12 @@ void Battery::run() {
return;
}
double Battery::getBatteryVoltage() {
double Battery::getBatteryVoltage() const {
double res = this->batteryVoltage;
return (int)(res*100+0.5)/100.0;
}
bool Battery::isBatteryLow(double voltage) {
bool Battery::isBatteryLow(double voltage) const {
if (this->getBatteryVoltage() <= voltage && this->batteryVoltage > this->absurdLowVoltage)
return true;
return false;
@@ -136,7 +136,7 @@ void Battery::initBuffer() {
this->adcBuffer[i] = 0;
}
uint16_t Battery::getBufAvg() {
uint16_t Battery::getBufAvg() const {
uint32_t res = 0;
uint8_t emptyPos = 0;
for (uint8_t i = 0; i < Battery::bufferSize; i++) {
lib/Battery/battery.h
+4 -4
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@@ -48,14 +48,14 @@ class Battery : public Component {
*
* @return double in Volt
*/
double getBatteryVoltage();
double getBatteryVoltage() const;
/**
* @brief Get the charge level of the battery
*
* @return uint8_t charge level in percent
*/
uint8_t getBatteryPercent() { return this->batteryPercent; }
uint8_t getBatteryPercent() const { return this->batteryPercent; }
/**
* @brief Checks if the battery is low.
@@ -68,7 +68,7 @@ class Battery : public Component {
* @return true if the battery is low
* @return false if the battery is high
*/
bool isBatteryLow(double voltage);
bool isBatteryLow(double voltage) const;
bool isNewValue();
@@ -79,7 +79,7 @@ class Battery : public Component {
void calculateBatteryPercent();
void readAdcToBuf();
void initBuffer();
uint16_t getBufAvg();
uint16_t getBufAvg() const;
static const uint8_t bufferSize = 30;
lib/Counter/counter.cpp
+1 -1
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@@ -36,7 +36,7 @@ void Counter::clear() {
pcnt_counter_clear(this->unit);
}
int16_t Counter::getValue() {
int16_t Counter::getValue() const {
int16_t res;
pcnt_get_counter_value(this->unit, &res);
return res;
lib/Counter/counter.h
+1 -1
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@@ -14,7 +14,7 @@ class Counter {
void resume();
void clear();
int16_t getValue();
int16_t getValue() const;
void setFilterValue(uint16_t value);
void filterEnable();
lib/MotorControl/motorControl.cpp
+3 -11
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@@ -114,27 +114,19 @@ void MotorControl::emergencyStop() {
setRealPower(0);
}
int8_t MotorControl::getPower() {
return this->power;
}
int8_t MotorControl::getTargetPower() {
return this->targetPower;
}
bool MotorControl::isTargetPowerReached() {
bool MotorControl::isTargetPowerReached() const {
if (this->targetPower == this->power)
return true;
return false;
}
bool MotorControl::isAccelerationPositive() {
bool MotorControl::isAccelerationPositive() const {
if (power < targetPower)
return true;
return false;
}
bool MotorControl::isAccelerationNegative() {
bool MotorControl::isAccelerationNegative() const {
if (power > targetPower)
return true;
return false;
lib/MotorControl/motorControl.h
+5 -5
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@@ -103,19 +103,19 @@ class MotorControl : public Component {
*
* @return int8_t percent of power (-100 to 100)
*/
int8_t getPower();
int8_t getPower() const { return this->power; };
/**
* @brief Get the target power
*
* @return int8_t percent of power (-100 to 100)
*/
int8_t getTargetPower();
int8_t getTargetPower() const { return this->targetPower; };
uint16_t getDutycycle() const { return this->dutycycle; }
bool isTargetPowerReached();
bool isAccelerationPositive();
bool isAccelerationNegative();
bool isTargetPowerReached() const;
bool isAccelerationPositive() const;
bool isAccelerationNegative() const;
private:
void run() override;
lib/Route/route.h
+1 -1
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@@ -128,7 +128,7 @@ class Point{
*
* @return Accuracy
*/
Accuracy getAccuracy() { return this->accuracy; }
Accuracy getAccuracy() const { return this->accuracy; }
private:
void init(uint32_t horizontalAccuracy, uint32_t creationTime);
lib/Speedometer/speedometer.h
+1 -1
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@@ -95,7 +95,7 @@ class Speedometer : public Component {
*
* @return Direction
*/
Direction getDirection() { return this->currentDirection; }
Direction getDirection() const { return this->currentDirection; }
/**
* @brief Get the calculated speed of the Wheel
src/driveModi/Modi/Autopilot/autopilot.h
-12
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@@ -65,18 +65,6 @@ class Autopilot : public ManualControl {
*/
~Autopilot();
/**
* @brief Calls runAutopilot or ManualControl loop
*
* This function should be called every main loop. If self
* driving is activated the function call run Autopilot. If
* the loopDelayMillis is not reached the function returns immediately.
*
* If self driving is not activated this functions calls the
* ManualControl loop additionally.
*/
void loop();
void restart();
/**
src/driveModi/Modi/CaptureRoute/captureRoute.cpp
+1 -1
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@@ -35,7 +35,7 @@ void CaptureRoute::run() {
}
}
double CaptureRoute::getDistanceToLastPoint() {
double CaptureRoute::getDistanceToLastPoint() const {
if (!this->lastSavedPoint.isInit())
return 0;
return this->lastSavedPoint.distanceTo(this->navigation->getCurrentPosition());
src/driveModi/Modi/CaptureRoute/captureRoute.h
+1 -1
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@@ -62,7 +62,7 @@ class CaptureRoute : public ManualControl {
*
* @return double in meters
*/
double getDistanceToLastPoint();
double getDistanceToLastPoint() const;
/**
* @brief Tells if there are new informations to display
src/driveModi/Modi/TestMode/testMode.cpp
+1 -1
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@@ -120,7 +120,7 @@ void TestMode::abortManeuver() {
this->abort = true;
}
uint8_t TestMode::getRemainingManeuverTime() {
uint8_t TestMode::getRemainingManeuverTime() const {
if (busy)
return (uint8_t) ((this->maneuverTime - (millis() - this->actionStart)) / 1000);
return 0;
src/driveModi/Modi/TestMode/testMode.h
+3 -3
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@@ -89,7 +89,7 @@ class TestMode : public DriveModi {
*/
void abortManeuver();
uint8_t getRemainingManeuverTime();
uint8_t getRemainingManeuverTime() const;
/**
* @brief Returns true if a maneuver is running
@@ -99,8 +99,8 @@ class TestMode : public DriveModi {
*/
bool getBusy() const { return this->busy; }
Maneuver getManeuver() const { return this->maneuver; }
Speedometer* getSpeedometerLeft() { return this->moveControl->getSpeedometerLeft(); }
Speedometer* getSpeedometerRight() { return this->moveControl->getSpeedometerRight(); }
Speedometer* getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
Speedometer* getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }
private:
void run() override;
src/driveModi/driveManager.h
+3 -3
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@@ -84,7 +84,7 @@ class DriveManager : public Component {
*
* @return Navigation*
*/
Navigation* getNavigation() {return this->navigation;}
Navigation* getNavigation() const {return this->navigation;}
/**
* @brief Get the DriveModi Ptr object
@@ -96,14 +96,14 @@ class DriveManager : public Component {
* @see getDriveModi
* @return DriveModi*
*/
DriveModi* getDriveModiPtr() { return this->currentModusPtr; }
DriveModi* getDriveModiPtr() const { return this->currentModusPtr; }
/**
* @brief Get the DriveModi enum
*
* @return Modi
*/
Modi getDriveModi() { return this->currentModus; }
Modi getDriveModi() const { return this->currentModus; }
private:
void run() override;
src/driveModi/driveModi.h
+2 -2
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@@ -34,7 +34,7 @@ class DriveModi : public Component {
void setMaxSpeed(double maxForwardSpeed) { maxForwardSpeed = maxForwardSpeed; }
void increaseMaxSpeed(double increase = 0.1) { maxForwardSpeed += increase; }
void decreaseMaxSpeed(double increase = 0.1) { maxForwardSpeed -= increase; }
double getMaxSpeed() { return this->maxForwardSpeed; }
double getMaxSpeed() const { return this->maxForwardSpeed; }
/**
* @brief Set the max rotation
@@ -44,7 +44,7 @@ class DriveModi : public Component {
void setMaxRotation(double maxRotation) { maxRotationSpeed = maxRotation; }
void increaseMaxRotation(double increase = 0.1) { maxRotationSpeed += increase; }
void decreaseMaxRotation(double increase = 0.1) { maxRotationSpeed -= increase; }
double getMaxRotation() { return this->maxRotationSpeed; }
double getMaxRotation() const { return this->maxRotationSpeed; }
protected:
MoveControl *moveControl;
src/main.cpp
+1
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@@ -228,6 +228,7 @@ void makeMenu() {
man_m->setLcd(lcdWrapper);
cap_m->setLcd(lcdWrapper);
auto_m->setLcd(lcdWrapper);
auto_m->setUpdateDelay(1000);
testM_m->setLcd(lcdWrapper);
comp_m->setLcd(lcdWrapper);
gps_m->setLcd(lcdWrapper);
src/moveControl.cpp
+1 -1
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@@ -137,7 +137,7 @@ void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) {
selectedPID->SetTunings(p, i, d);
}
PID* MoveControl::getPID(uint8_t side) {
PID* MoveControl::getPID(uint8_t side) const {
if (side == 0)
return this->left_pid;
else if (side == 1)